Author

Zhengping Che

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Preprint Aug 2026

GAINS: Leveraging Inconsistent Human Intervention Signals in Reinforcement Learning

Correcting robot manipulation policies through human intervention holds great promise for real-world deployment, yet human operators are inherently imperfect in both the actions they provide and the timing of their intervention signals. While the former has been extensively discussed in reinforcement learning (RL), the...

Xin-Yi Zhang, Yi-Nuo Zhao, Pei Ren et al. · 1 citation

Preprint Aug 2026

HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL

HAF (Humanoid Adaptation Framework), a two-part framework consisting of HAF-VLA and HAF-Steer that transfers off-the-shelf generalist VLA foundation models to humanoid whole-body loco-manipulation, surpasses vanilla single-stage VLA baselines and improves whole-body coordination and task performance.

Lang-Zhe Gu, Cheng-Kai Hou, Meng Li et al. · 3 citations

Jun 2026

Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory

Laboratory automation has made remarkable progress through robotic platforms and AI-driven scientific reasoning. However, many laboratory operations (e.g., solid--solid transfer) remain inherently dynamic and require real-time adaptation to different materials and experimental conditions. Such precision-critical manipu...

Yuhan Wu, Zhao Jin, Tao Li et al. · arXiv.org · 1 citation